Keynote Lecture: Design and Control of 6-Legged Parallel-Parallel Robots for Applications

Abstract: Research on the walking robots has been one of key topics in robotics for a long time. In recent years, many legged robots were developed in the world, which of them achieved great progress and received much attention from the robotic field. The most important challenging issues are the design and human robot Interaction control of the legged robots. This speech will introduce our research on both mechanism design and real time control of the 6-legged parallel-parallel robots for applications, which include the following issues: design process of type synthesis for legged robotic mechanisms；design of the unit composed of motor, reducer, encoder and torque sensor for legged robots; real-time operating system for legged robots, walking based on force sensing, obstacle avoidance with both vision and F/T sensor, walking upstairs by vision, human-robot interactive assembly based on F/T sensor, manufacturing based on F/T sensor, locked door opening based on F/T sensor for legged robots, fire-fighting and so on.